uint8 device_id
uint8 scanner_type
uint16 scan_number
float32 start_angle
float32 end_angle
float32 yaw_angle
float32 pitch_angle
float32 roll_angle
float32 offset_x
float32 offset_y
float32 offset_z

# scanner_type values
uint8 ALASCA_XT=3
uint8 LUX_ECU=4
uint8 LUX_PROTOTYPE=5
uint8 LUX=6
uint8 SCALA_B1=96
